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donkeycar-rl-autoresearch
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Research-grade DonkeyCar RL autoresearch and sweep system.
78 Commits 1 Branch 0 Tags 207 MiB
Python 94.3%
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Paul Huliganga beb04f3ebe fix: reward v6 — efficiency gate prevents circular driving, stuck_steps 80→40 
v5 dropped the efficiency term to get gradient signal on hills, but this
re-enabled circular driving (observed in Exp 11). v6 adds efficiency back
as a GATE (not multiplier): if efficiency < 0.15, reward = 0. Otherwise
reward = speed × CTE_quality (same as v5).

Gate vs multiplier: v4 used efficiency as a multiplier which killed gradient
on hills (all terms → 0 simultaneously). v6's gate passes when efficiency
is above threshold (car moving forward, even slowly on hill) and only
blocks when car is truly circling.

Also reduced stuck_steps from 80 to 40 (~2.5s vs ~5s) — user reported
car stuck against barriers for ~10s which is too long with DummyVecEnv.
 		2026-04-19 12:02:55 -04:00
.harness feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
agent fix: reward v6 — efficiency gate prevents circular driving, stuck_steps 80→40 2026-04-19 12:02:55 -04:00
docs docs: session log + ADR-019 — parallel DummyVecEnv for multi-track training 2026-04-19 10:50:11 -04:00
tests fix: reward v6 — efficiency gate prevents circular driving, stuck_steps 80→40 2026-04-19 12:02:55 -04:00
.gitignore feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
AGENT.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
DECISIONS.md docs: session log + ADR-019 — parallel DummyVecEnv for multi-track training 2026-04-19 10:50:11 -04:00
IMPLEMENTATION_PLAN.md feat: Phase 3 — behavioral control, enhanced evaluator, 53 tests 2026-04-14 09:28:43 -04:00
PROJECT-KICKOFF.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
PROJECT-SPEC.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
README.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
create_gitea_repo.py Initial commit 2026-04-12 23:44:36 -04:00
ralph-loop.sh feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00

README.md

donkeycar-rl-autoresearch

Purpose

Status

  • Scaffolded with the agent harness
  • Spec not filled yet

Runbook

  • Fill PROJECT-SPEC.md
  • Create IMPLEMENTATION_PLAN.md from the spec
  • Start the implementation loop